/** Include Header Files **/
#include "judge_receive.h"
#include "string.h"
/*
quu..__
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				|#'     `..'`..'          `###'        x:      /     /
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*/
/** Variables Definition **/

ext_game_status_t                ext_game_status;//0X0001
ext_game_result_t                ext_game_result;//0X0002
ext_game_robot_HP_t              ext_game_robot_HP;//0X0003
ext_event_data_t                 ext_event_data;//0X0101
ext_supply_projectile_action_t   ext_supply_projectile_action;//0X0102
ext_referee_warning_t            ext_referee_warning;//0X0104
ext_dart_info_t                  ext_dart_info;//0X0105
ext_game_robot_status_t          ext_game_robot_status;//0X0201
ext_power_heat_data_t            ext_power_heat_data;//0X0202
ext_robot_pos_t                  ext_robot_pos;//0X0203
ext_buff_t                       ext_buff;//0X0204
ext_air_support_data_t           ext_air_support_data;//0X0205
ext_hurt_data_t                  ext_hurt_data;//0X0206
ext_shoot_data_t                 ext_shoot_data;//0X0207
ext_projectile_allowance_t       ext_projectile_allowance;//0X0208
ext_rfid_status_t                ext_rfid_status;//0X0209
ext_dart_client_cmd_t            ext_dart_client_cmd;//0X020A
ext_ground_robot_position_t      ext_ground_robot_pos;//0X020B
ext_radar_mark_data_t            ext_radar_mark_data;//0X020C
ext_sentry_info_t                ext_sentry_info;//0X020D
ext_radar_info_t                 ext_radar_info;//0X020E
ext_robot_interaction_data_t     ext_robot_interaction_data;//0X0301
ext_map_command_t                ext_map_command;//0X0303
ext_map_robot_data_t             ext_map_robot_data;//0X0305
ext_map_data_t                   ext_map_data;//0X0307
ext_custom_info_t                ext_custom_info;//0X0308
ext_custom_robot_data_t          ext_custom_robot_data;//0X0302
ext_remote_control_t             ext_remote_control;//0X0304
ext_custom_client_data_t         ext_custom_client_data;//0X0306
ext_remote_control_t ext_video_transmitter;

/**
 * @brief  裁判系统接收数据函数
 * @note   
 * @param  judgereceive_counter: 当前接收数据长度
 * @retval None
 */
void RefereeReceive(uint8_t judge_receive_counter,uint8_t* judge_receive_buffer)
{
	uint16_t temp_length;
	uint8_t Judge_SOF = 0;
	uint16_t DataLength, Judge_CmdID;
	//循环扫描头帧
	while (Judge_SOF < judge_receive_counter)
	{
		if (judge_receive_buffer[Judge_SOF] == 0XA5)
		{
			//这一帧数据的指令ID和数据长度
			Judge_CmdID = judge_receive_buffer[JUDGE_CMDID_OFFSET + Judge_SOF] | (judge_receive_buffer[JUDGE_CMDID_OFFSET + 1 + Judge_SOF] << 8);
			DataLength = judge_receive_buffer[JUDGE_DATALENGTH_OFFSET + Judge_SOF] | (judge_receive_buffer[JUDGE_DATALENGTH_OFFSET + 1 + Judge_SOF] << 8);
			//校验一帧数据
			if (Verify_CRC_Check_Sum(judge_receive_buffer + Judge_SOF, DataLength))
			{
				if(Judge_CmdID == 0x201)
					temp_length = DataLength;
				//数据处理，读取
				Referee_Receive_Data_Processing(Judge_SOF, Judge_CmdID, judge_receive_buffer);
				//跳到下一帧数据的头帧
				Judge_SOF += JUDGE_DATA_LENGTH(DataLength);
			}
			else
			  Judge_SOF += JUDGE_DATA_LENGTH(0);
		}
		else
		  Judge_SOF++;
	}
}
/**
  * @brief  裁判系统数据处理
  * @param  SOF：   头帧偏移量
  * @param  CmdID： 数据帧的ID
  * @retval None
  * @note	  None
  */
void Referee_Receive_Data_Processing(uint8_t SOF, uint16_t CmdID, uint8_t* judge_receive_buffer)
{
    switch (CmdID)
    {
    //1.	比赛状态(0x0001)	1Hz
    case GAME_STATUS:
    {
        memcpy(&ext_game_status, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_game_status));
        break;
    }
    //2.	比赛结果(0x0002)
    case GAME_RESULT:
    {
        memcpy(&ext_game_result, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_game_result));
        break;
    }
    //3.	比赛机器人血量数据（0x0003）
    case ROBOT_HP:
    {
        memcpy(&ext_game_robot_HP, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_game_robot_HP));
        break;
    }
  
    //4.	场地事件数据（0x0101）
    case EVENT_DATA:
    {
        memcpy(&ext_event_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_event_data));
        break;
    }
    //5.	场地补给站动作标识数据（0x0102）
    case SUPPLY_PROJECTILE_ACTION:
    {
        memcpy(&ext_supply_projectile_action, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_supply_projectile_action));
        break;
    }
    //6.    裁判警告数据(0x0104)
    case REFEREE_WARNING:
    {
        memcpy(&ext_referee_warning, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_referee_warning));
        break;
    }
    //7.    飞镖(0x0105)
    case DART_INFO:
    {
        memcpy(&ext_dart_info, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_dart_info));
        break;
    }
    //8.	机器人状态数据（0x0201）
    case ROBOT_STATUS:
    {
        memcpy(&ext_game_robot_status, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF),sizeof(ext_game_robot_status));
        break;
    }
    //9.	实时功率热量数据(0x0202)
    case POWER_HEAT_DATA:
    {
        memcpy(&ext_power_heat_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_power_heat_data));
        break;
    }
    //10.机器人位置数据(0X0203)
    case ROBOT_POS:
    {
        memcpy(&ext_robot_pos, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_robot_pos));
        break;
    }
    //11.机器人增益数据(0X0204)
    case BUFF:
    {
        memcpy(&ext_buff, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF),sizeof(ext_buff));
        break;
    }
    //12.空中机器人能量状态数据(0X0205)
    case AIR_SUPPORT_DATA :
    {
        memcpy(&ext_air_support_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_air_support_data));
        break;
    }
    //13.伤害状态数据(0X0206)
    case HURT_DATA :
    {
        memcpy(&ext_hurt_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_hurt_data));
        break;
    }
    //14.实时射击数据(0X0207)
    case SHOOT_DATA:
    {
        memcpy(&ext_shoot_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_shoot_data));
        break;
    }
    //15.子弹剩余发送数(0X0208)
    case PROJECTILE_ALLOWANCE:
    {
        memcpy(&ext_projectile_allowance, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_projectile_allowance));
        break;
    }
    //16.机器人 RFID 状态(0X0209)
    case RFID_STATUS:
    {
        memcpy(&ext_rfid_status, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_rfid_status));
        break;
    }
    //17.飞镖机器人客户端指令数据(0X020A)
    case DART_CLIENT_CMD:
    {
        memcpy(&ext_dart_client_cmd, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_dart_client_cmd));
        break;
    }
	  //18.地面机器人位置数据(0X020B)
    case GROUND_ROBOT_POS:
    {
        memcpy(&ext_ground_robot_pos, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_ground_robot_pos));
        break;
    }
	  //19.雷达标记进度数据(0X020C)
    case RADAR_MARK_DATA:
    {
        memcpy(&ext_radar_mark_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_radar_mark_data));
        break;
    }
	  //20.哨兵自主决策信息同步数据(0X020D)
    case SENTRY_INFO:
    {
        memcpy(&ext_sentry_info, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_sentry_info));
        break;
    }
	  //21.雷达自主决策信息同步数据(0X020E)
    case RADAR_INFO:
    {
        memcpy(&ext_radar_info, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_radar_info_t));
        break;
    }
	  //22.机器人交互数据(0X0301)
    case ROBOT_INTERACTION_DATA:
    {
        memcpy(&ext_robot_interaction_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_robot_interaction_data));
        break;
    } 
	 //22.自定义控制器与机器人交互数据(0X0302)
	case CUSTOM_ROBOT_DATA:
    {
        memcpy(&ext_custom_robot_data, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_custom_robot_data));
        break;
    }
	//23.选手端小地图交互数据(0X0303)
	 case MAP_COMMAND:
    {
        memcpy(&ext_map_command, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF), sizeof(ext_map_command));
        break;
    }
    //24.图传遥控信息数据(0x0304)
    case REMOTE_CONTROL:
    {
        memcpy(&ext_remote_control, (judge_receive_buffer + JUDGE_DATA_OFFSET + SOF),sizeof(ext_remote_control));
        break;
    }
	
    }
}

/*------------------------------------------------------DJI校验程序--------------------------------------------------------------*/
//crc8 generator polynomial:G(x)=x8+x5+x4+1
const unsigned char CRC8_INIT = 0xff;
const unsigned char CRC8_TAB[256] =  
{  
    0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,  
    0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 
    0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 
    0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 
    0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 
    0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 
    0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 
    0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,  
    0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 
    0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 
    0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 
    0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 
    0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 
    0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 
    0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,  
    0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,  
};
unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength, unsigned char ucCRC8)
{
  unsigned char ucIndex;
  while (dwLength--)
  {
    ucIndex = ucCRC8 ^ (*pchMessage++);
    ucCRC8 = CRC8_TAB[ucIndex];
  }
  return (ucCRC8);
}
/* 
** Descriptions: CRC8 Verify function 
** Input: Data to Verify,Stream length = Data + checksum 
** Output: True or False (CRC Verify Result) 
*/
unsigned int Verify_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength)
{
  unsigned char ucExpected = 0;
  if ((pchMessage == 0) || (dwLength <= 2))
    return 0;
  ucExpected = Get_CRC8_Check_Sum(pchMessage, dwLength - 1, CRC8_INIT);
  return (ucExpected == pchMessage[dwLength - 1]);
}
/* 
** Descriptions: append CRC8 to the end of data 
** Input: Data to CRC and append,Stream length = Data + checksum 
** Output: True or False (CRC Verify Result) 
*/
void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength)
{
  unsigned char ucCRC = 0;
  if ((pchMessage == 0) || (dwLength <= 2))
    return;
  ucCRC = Get_CRC8_Check_Sum((unsigned char *)pchMessage, dwLength - 1, CRC8_INIT);
  pchMessage[dwLength - 1] = ucCRC;
}
uint16_t CRC_INIT = 0xffff;
const uint16_t wCRC_Table[256] =
    {
        0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
        0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
        0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
        0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
        0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
        0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
        0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
        0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
        0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
        0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
        0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
        0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
        0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
        0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
        0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
        0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
        0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
        0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
        0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
        0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
        0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
        0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
        0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
        0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
        0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
        0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
        0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
        0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
        0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
        0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
        0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
        0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
/* 
** Descriptions: CRC16 checksum function 
** Input: Data to check,Stream length, initialized checksum 
** Output: CRC checksum 
*/
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength, uint16_t wCRC)
{
  uint8_t chData;
  if (pchMessage == NULL)
  {
    return 0xFFFF;
  }
  while (dwLength--)
  {
    chData = *pchMessage++;
    (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
  }
  return wCRC;
}
/* 
** Descriptions: CRC16 Verify function 
** Input: Data to Verify,Stream length = Data + checksum 
** Output: True or False (CRC Verify Result) 
*/
uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
{
  uint16_t wExpected = 0;
  if ((pchMessage == NULL) || (dwLength <= 2))
  {
    return 0;
  }
  wExpected = Get_CRC16_Check_Sum(pchMessage, dwLength - 2, CRC_INIT);
  return ((wExpected & 0xff) == pchMessage[dwLength - 2] && ((wExpected >> 8) & 0xff) ==
                                                                pchMessage[dwLength - 1]);
}
/* 
** Descriptions: append CRC16 to the end of data 
** Input: Data to CRC and append,Stream length = Data + checksum 
** Output: True or False (CRC Verify Result) 
*/
void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
{
  uint16_t wCRC = 0;
  if ((pchMessage == NULL) || (dwLength <= 2))
  {
    return;
  }
  wCRC = Get_CRC16_Check_Sum((uint8_t *)pchMessage, dwLength - 2, CRC_INIT);
  pchMessage[dwLength - 2] = (uint8_t)(wCRC & 0x00ff);
  pchMessage[dwLength - 1] = (uint8_t)((wCRC >> 8) & 0x00ff);
}
/*------------------------------------------------------DJI校验程序--------------------------------------------------------------*/